add symbolic printout to the double pendulum example #249
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RussTedrake
commented
Jan 12, 2020
| T = None | ||
| for scalar in [float, AutoDiffXd, Expression]: | ||
| if isinstance(plant, MultibodyPlant_[scalar]): | ||
| T = scalar |
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@EricCousineau-TRI -- is this the right way to infer the template type of an argument? is there a better way?
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Seeing this now - you should also be able to do MultibodyForce_(plant), which was enabled by this PR:
RobotLocomotion/drake#11705
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Ah. Better. Thanks!
… On Jan 13, 2020, at 11:06 AM, Eric Cousineau ***@***.***> wrote:
@EricCousineau-TRI commented on this pull request.
In src/underactuated/multibody.py <#249 (comment)>:
> @@ -18,7 +20,11 @@ def ManipulatorDynamics(plant, q, v=None):
else:
# MultibodyPlant version
- assert(isinstance(plant, MultibodyPlant))
+ T = None
+ for scalar in [float, AutoDiffXd, Expression]:
+ if isinstance(plant, MultibodyPlant_[scalar]):
+ T = scalar
Seeing this now - you should also be able to do MultibodyForce_(plant), which was enabled by this PR:
RobotLocomotion/drake#11705 <RobotLocomotion/drake#11705>
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Resolves #176